Aiaa - 94 - 1295 . Cp Fault Tolerant Kinematic Control of Hyper - Redundant Manipulators
نویسنده
چکیده
This paper investigates the fault-tolerant control of hyper-redundant spatial manipulators. The standard resolved rate control law using the pseudoinverse is modified to account for joint failures. To combat the problem of extremely high joint velocity solutions generated near singular configurations by the pseudoinverse, the singularity robust inverse is employed. A method to compute an optimal scale factor for the robust inverse is derived. Simulation results of this approach applied to an 11 DOF manipulator are presented which verify the validity of this approach.
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تاریخ انتشار 2009